Provide Navigation as a Service (Global Planner) 2

[AxelBo]

42

Tasks:

• handle navigation tasks like serving HTTP requests (ROS service)
• figure out the input / output interface:
  • inputs: start pos, target pos, vehicle orientation
  • outputs: route as list of waypoints, route metadata

Goals:

• put the local planner in charge of requesting routes instead of just planning a single route at the beginning based on the car's spawn position
• facilitate a simple way of implementing the infinite driving mode #45

[Bonifatius94]

duplicate ticket -> close